EP2112472A3 - Navigation system and method of obtaining accurate navigational information in signal challenging environments - Google Patents

Navigation system and method of obtaining accurate navigational information in signal challenging environments Download PDF

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Publication number
EP2112472A3
EP2112472A3 EP09157271A EP09157271A EP2112472A3 EP 2112472 A3 EP2112472 A3 EP 2112472A3 EP 09157271 A EP09157271 A EP 09157271A EP 09157271 A EP09157271 A EP 09157271A EP 2112472 A3 EP2112472 A3 EP 2112472A3
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EP
European Patent Office
Prior art keywords
navigation system
stochastic
inertial
regulator
compensation unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP09157271A
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German (de)
French (fr)
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EP2112472A2 (en
EP2112472B1 (en
Inventor
Diniar S. Shroff
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Exelis Inc
Original Assignee
ITT Manufacturing Enterprises LLC
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Filing date
Publication date
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Publication of EP2112472A2 publication Critical patent/EP2112472A2/en
Publication of EP2112472A3 publication Critical patent/EP2112472A3/en
Application granted granted Critical
Publication of EP2112472B1 publication Critical patent/EP2112472B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Abstract

A present invention embodiment includes a navigation system with a front-end GPS receiver, auxiliary sensors and a digital signal processor providing filtering and other processing. The navigation system enhances a UTC type architecture by employing an inertial compensation unit and a stochastic regulator. The inertial compensation unit compensates for inertial errors within the sensors, while the stochastic regulator applies an optimal stochastic control law to control system operation. The inertial compensation unit and stochastic regulator mitigate instability within the navigation system and provide: the functionality to attain high position accuracy in the sub-meter range that is stable and reliable; an optimal solution evident in the process of signal recovery time after loss and reacquisition, thereby resulting in signal-loss recovery with an order of magnitude improvement; and the ability to mitigate inertial errors that originate in the sensors. The navigation system provides navigation information for indoor and urban environmental conditions.
EP09157271.9A 2008-04-22 2009-04-03 Navigation system and method of obtaining accurate navigational information in signal challenging environments Active EP2112472B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US12/107,457 US8725327B2 (en) 2008-04-22 2008-04-22 Navigation system and method of obtaining accurate navigational information in signal challenging environments

Publications (3)

Publication Number Publication Date
EP2112472A2 EP2112472A2 (en) 2009-10-28
EP2112472A3 true EP2112472A3 (en) 2012-03-28
EP2112472B1 EP2112472B1 (en) 2014-09-10

Family

ID=41057474

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09157271.9A Active EP2112472B1 (en) 2008-04-22 2009-04-03 Navigation system and method of obtaining accurate navigational information in signal challenging environments

Country Status (2)

Country Link
US (1) US8725327B2 (en)
EP (1) EP2112472B1 (en)

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CN108663700A (en) * 2018-08-10 2018-10-16 吉利汽车研究院（宁波）有限公司 A kind of GPS signal loses processing system and method

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CN106643726B (en) * 2016-11-23 2020-04-10 北京航天控制仪器研究所 Unified inertial navigation resolving method
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Also Published As

Publication number Publication date
US8725327B2 (en) 2014-05-13
US20090265104A1 (en) 2009-10-22
EP2112472A2 (en) 2009-10-28
EP2112472B1 (en) 2014-09-10

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